DE10247290B4 - Method and device for monitoring dead angles of a motor vehicle - Google Patents

Abstract

Method for monitoring the blind spot (W1, W2) on the side of a motor vehicle (F1), wherein a warning function gives a warning to the driver when an object (F2) is in a warning area (W1, W2) with the following steps:
a) determining the relative speed (v _rel ) between object (F2) and motor vehicle (F1), determining the direction of travel of the object (F2) relative to the motor vehicle (F1) and determining the position of the object relative to the motor vehicle (F1),
b) issuing a warning to the driver when
the direction of travel of the object (F2) corresponds to that of the motor vehicle (F1),
the relative velocity (v _rel ) between the object (F2) and the vehicle (F1) is within a predetermined range defined by a lower limit (v _u ) and an upper limit (v _o ), the predetermined range containing the relative velocity zero, and the position of the object (F2) is within the warning range (W1, W2),
characterized in that
the range limits (v _u , v _o ) are a function of the ...

Description

The invention relates to a method and a device for monitoring the blind spot of a motor vehicle according to the preamble of claim 1 or of claim 6.

A driver of a vehicle may view the area around his vehicle directly through the vehicle windows and indirectly through the vehicle rearview mirrors. In this case, the driver can see through the vehicle windows substantially the area in front of the vehicle and the areas laterally in front of the vehicle, while the area behind the vehicle through the vehicle interior rearview mirror and the areas behind the vehicle by one or more vehicle exterior rearview mirror are visible.

Due to the limited field of view of the driver and the geometric conditions on a vehicle, d. H. For example, due to obstructive spars between the vehicle windows, the driver of the vehicle is generally unable to view all areas around a vehicle without turning or turning his head. Immediately behind and in front of the vehicle there are areas that the driver can not see. Similarly, there are areas on the side of the vehicle, which the driver can not see without a significant change in the field of view by turning his head. These poorly visible areas on the sides of the vehicle are referred to as blind spot areas of the vehicle, this range varies depending on the size and seating position of the driver and the type and setting of the exterior mirrors.

From the EP 1 026 522 A2 A system for monitoring an area on the side of a vehicle in a dynamic traffic environment is known. In this case, the system has an IR transmission unit and an IR reception unit, which are arranged on the side of the vehicle. By means of these IR transmitting and receiving units, a lateral area to be monitored is defined, wherein an evaluation unit determines whether an object is located in the surveillance area. A suitable display unit informs the driver of the presence of an object in the monitored area. A disadvantage of the known system is that the driver is also pointed to objects that are meaningless for the guidance of his vehicle.

From the publication DE 693 25 455 T2 a generic method for monitoring the blind spot of a motor vehicle having the features of the preamble of claim 1 is known.

The invention is therefore based on the object to provide a method and apparatus for monitoring blind spots of a motor vehicle, wherein the driver receives a warning only when the detected in the blind spot object for the vehicle guidance is important.

The object is solved by the features of the method according to claim 1 and those of the device according to claim 6. Preferred embodiments of the invention are the subject of the dependent claims.

• a) Bestimmen der Relativgeschwindigkeit v_rel zwischen Objekt und Kraftfahrzeug, Bestimmen der Fahrtrichtung des Objekts relativ zu dem Kraftfahrzeug und Bestimmen der Position des Objekts relativ zu dem Kraftfahrzeug innerhalb eines vorgegebenen Sensorbereichs,
• b) Ausgeben einer Warnung an den Fahrer, wenn die Fahrtrichtung des Objekts derjenigen des Kraftfahrzeugs entspricht, die Relativgeschwindigkeit v_rel zwischen Objekt und Kraftfahrzeug innerhalb eines vorbestimmten Bereichs, definiert durch eine untere Bereichsgrenze v_u und eine obere Bereichsgrenze v_o liegt, wobei der vorbestimmte Bereich die Relativgeschwindigkeit Null enthält, und die Position des Objekts (F2) innerhalb des Warnbereichs liegt, wobei

die Bereichsgrenzen eine Funktion der Eigengeschwindigkeit des Kraftfahrzeugs sind.The method according to the present invention for controlling the blind spot on the side of a motor vehicle, which activates a warning function for issuing a warning to the driver when an object is within a predetermined warning range, comprises the following steps:

• a) determining the relative velocity v _rel between the object and the motor vehicle, determining the direction of travel of the object relative to the motor vehicle and determining the position of the object relative to the motor vehicle within a predetermined sensor range,
• b) issuing a warning to the driver when the direction of travel of the object corresponds to that of the motor vehicle, the relative speed v _rel between object and motor vehicle within a predetermined range, defined by a lower range limit v _u and an upper range limit v _o , wherein the predetermined Area containing the relative velocity zero, and the position of the object (F2) is within the warning range, where

the range limits are a function of the airspeed of the motor vehicle.

In other words, at a low speed of the vehicle, the range limits are lowered, while at a high speed, the range limits are shifted to higher relative speeds.

The relative speed is related to the motor vehicle, in other words, if the relative speed is greater than zero, then the object moves faster than the vehicle and if the relative speed is less than zero, the object is slower than the vehicle. Objects include pedestrians, vehicles, bicycles, motorcycles, trucks and buses. Furthermore, the direction of travel of the object relative to the motor vehicle is defined by the direction of the roadway on which the object moves relative to the vehicle. In other words, with respect to the motor vehicle, an object can only have one of two directions of travel, either it moves in the same direction of travel as the vehicle or it moves into the vehicle opposite direction of travel. In the latter case, it is thus oncoming traffic. Thus, an object having the relative speed zero with respect to the vehicle and changing from an outside lane to a lane adjacent to the vehicle has the same traveling direction as the vehicle, although it is moving toward the vehicle relative to the relative speed in the vertical direction. Furthermore, the sensor area is predetermined by the area of the sensor in which these objects are detected, and the warning area is the area within which a warning is given to the driver, ie the blind spot area. The warning area is part of the sensor area.

At relative speeds greater than the positive upper range limit v _o , a warning can be generated, ie a warning is generated at all positive relative speeds when the other conditions mentioned above are met.

In particular, the predetermined range is defined by the interval of the relative speeds of -30 km / h to + 100 km / h, preferably -15 km / h to +50 km / h and especially -5 km / h to +30 km / h ,

Preferably, the warning function is independent of the direction of entry of the object into the blind spot and the direction of exit of the object from the blind spot.

In a further preferred embodiment, driving situations are classified, wherein each classified driving situation includes the information as to whether the warning function is activated or not when an object enters the blind spot area. The method further comprises the following steps: Determining the current driving situation of motor vehicle and object, determining the classified driving situation that corresponds to the current driving situation, and activating the warning function according to the information of the determined classified driving situation.

Preferably, the classification takes into account two further lanes to the side of the lane of the motor vehicle. This measure is generally sufficient.

In particular, the evaluation of whether a warning function is triggered when an object enters an open angle or warning area of the motor vehicle is carried out on both sides of the motor vehicle, in other words, both sides of the motor vehicle are monitored.

A device according to the invention designed to carry out the above-described method comprises a sensor device for monitoring a blind spot, wherein the sensor device determines the direction of movement of an object relative to the motor vehicle, the relative speed between the object and the motor vehicle and the position of the object relative to the vehicle, a control unit for evaluating the determined data, and a warning device for outputting a warning signal to the driver of the motor vehicle as a function of the evaluation of the data. The position of the detected object relative to the vehicle is preferably determined by measuring the radial distance to the vehicle and measuring the angle from which the object is approaching.

In particular, the control device comprises a memory for storing classified driving states and a comparator for comparing a current driving state determined by the control unit with the data of the sensor device with the classified driving states.

The sensor device can be arranged in a side mirror, an exterior mirror, the rear bumper or a tail light of the motor vehicle.

A preferred embodiment of the invention will be explained below with reference to the schematic drawings. In the drawings shows

1 a definition of the blind spot of a motor vehicle,

2a - 2c Warning situations in selected driving situations,

3a - 3c Situations without activating the warning function,

4 a schematic representation of the preferred speed range,

5a - 5d possible entry and exit directions in a blind spot for vehicles in the same direction of travel and for oncoming traffic,

6a - 6c Examples classified driving situations with triggering of a warning signal, and

7a - 7c Examples of classified driving situations without triggering a warning signal.

1 shows a schematic representation of the mutual so-called blind spots of a motor vehicle. Shown is a motor vehicle F1, which runs in the middle lane S2 of a lane FB with three lanes S1, S2, S3 in the drawing from right to left Both driver and passenger side is in each case a rectangular area W1, W2 with edges a, b , for example, a rectangle of approx. 5 × 5 m define, represented These approximate areas W1, W2 are defined below as blind spot areas or warning areas, which can not be seen by the driver in the exterior mirrors. The areas depend on the size and seating position of the driver as well as the type and setting of the exterior mirrors. Furthermore, the size of the blind spot areas depends on the driving situation, for example on the speed.

In the following 2a c, 3a c, 5a -d, 6a c, 7a -C and 8a -C is the vehicle whose driver-side blind spot enters an object called the vehicle F1, and the object is specified by another vehicle F2 called the object vehicle. The direction of movement of the vehicle F1 whose dead angle is considered is in the plane of the drawing from right to left.

2a shows an overtaking process in which two vehicles F1 and F2 have the same direction of travel and the vehicle F1 is slowly overtaken by the faster object vehicle F2. The intrusion of the object vehicle F2 into the driver-side blind spot area W1 of the vehicle F1 triggers a warning.

2 B shows one of the 2a comparable situation in which the object vehicle F2 located in the blind spot area W1 of the vehicle F1 has the same speed as the vehicle F1. A warning is issued to the driver of the vehicle F1.

2c shows a situation in which the object vehicle F2 slowly falls back on the vehicle F1, which is represented by the backward arrow, and wanders through the blind spot of the vehicle F1. A warning is sent to the driver of the vehicle F1. The direction of travel of both vehicles F1, F2 is identical here as well.

Other situations like those in the 3a to 3c can be defined for both the driver side as well as the passenger side in which a warning function is triggered by the penetration of an object in a blind spot of a vehicle.

3a shows a situation in which the object vehicle F2 enters as oncoming traffic in the driver-side blind spot W1 of the vehicle F1. A warning does not occur in the case of oncoming traffic.

3b shows the passage of the vehicle F1 past the stationary object vehicle F2. Again, there is no warning in an entry of a stationary vehicle in the blind spot area of another vehicle.

3c Finally, a situation in which both vehicles move in the same direction of travel and the object vehicle F2 quickly falls back with respect to the vehicle F1 moving in the same direction, which is represented by the larger, pointing to the right in the drawing direction arrow. In other words, the object vehicle F2 passes through the blind spot area W1 of the vehicle F1 from the front to the rear, and the situation can be described as an overtaking operation of the vehicle F1. A warning does not occur in this situation.

Further, no warning is given when the blind spot area of a vehicle is empty regardless of the background (not shown).

4 shows a pictorial representation of the range of relative speeds at which when entering an object in the blind spot area of a vehicle, a warning or not. The relative velocity v _rel is based on the vehicle in order to achieve a correct sign definition. At relative speeds less than a lower limit v _u between the vehicle and an object, no warning is triggered, at relative speeds within a range between the lower limit v _u and an upper limit v _o , this range containing the relative speed zero, becomes a warning triggered, and at relative speeds greater than the upper limit v _o triggering a warning is optional. The stated range limits may depend on the vehicle's own speed.

The 5a - 5d show possible entry and exit directions in a blind spot of a vehicle for vehicles in the same direction and for oncoming traffic. The terms "right", "left", "front" and "rear" used herein with respect to the possible entry and exit directions refer to the direction of movement of the object vehicle F2.

• 1.1 Eintrittsrichtung schräg links nach vorne durch Wechsel Fahrzeug F2 von Fahrspur S1 nach Fahrspur S2 (Relativgeschwindigkeit größer Null,
• 1.2 Eintrittsrichtung nach vorne durch Verbleiben von Fahrzeug F2 auf der Fahrspur S2 (Relativgeschwindigkeit größer Null),
• 1.3 Eintrittsrichtung schräg rechts nach vorne durch Wechsel von Fahrzeug F2 von Fahrspur S3 nach Fahrspur S2 (Relativgeschwindigkeit größer Null),
• 1.4 Eintrittsrichtung nach rechts durch Wechsel von Fahrzeug F2 von Fahrspur S3 nach Fahrspur S2 (Relativgeschwindigkeit gleich Null),
• 1.5 Eintrittsrichtung schräg rechts nach hinten durch Wechsel von Fahrzeug F2 von Fahrspur S3 nach Fahrspur S2 (Relativgeschwindigkeit kleiner Null), und
• 1.6 Eintrittsrichtung nach hinten durch Verbleiben von Fahrzeug F2 auf der Fahrspur S2 (Relativgeschwindigkeit kleiner Null).

5a schematically shows the 6 essential entry directions, represented by arrows 1.1 . 1.2 . 1.3 . 1.4 . 1.5 and 1.6 in which the vehicle F2 can enter the driver-side blind spot area W1 of the vehicle F1. Also shown are three lanes S1, S2, S3 of a carriageway FB. The arrows have the following meaning:

• 1.1 Entry direction diagonally left to front by changing vehicle F2 from lane S1 to lane S2 (relative speed greater than zero,
• 1.2 Entry direction forward by leaving vehicle F2 on the lane S2 (relative speed greater than zero),
• 1.3 Entry direction diagonally right forward by changing vehicle F2 from lane S3 to lane S2 (relative speed greater than zero),
• 1.4 Entry direction to the right by changing vehicle F2 from lane S3 to lane S2 (relative speed equal to zero),
• 1.5 Entry direction obliquely right to the rear by changing vehicle F2 from lane S3 to lane S2 (relative speed less than zero), and
• 1.6 Entry direction to the rear by leaving vehicle F2 on the lane S2 (relative speed less than zero).

• 2.1 Austrittsrichtung schräg rechts nach hinten durch Wechsel des Fahrzeugs F2 von Fahrspur S2 nach Fahrspur S1 (Relativgeschwindigkeit kleiner Null),
• 2.2 Austrittsrichtung nach hinten durch Verbleiben von Fahrzeug F2 auf der Fahrspur S2 (Relativgeschwindigkeit kleiner Null),
• 2.3 Austrittsrichtung schräg links nach hinten durch Wechsel von Fahrzeug F2 von Fahrspur S2 nach Fahrspur S3 (Relativgeschwindigkeit kleiner Null),
• 2.4 Austrittsrichtung nach links durch Wechsel von Fahrzeug F2 von Fahrspur S2 nach Fahrspur S3 (Relativgeschwindigkeit gleich Null),
• 2.5 Austrittsrichtung schräg links nach vorne durch Wechsel von Fahrzeug F2 von Fahrspur S3 nach Fahrspur S2 (Relativgeschwindigkeit größer Null), und
• 2.6 Austrittsrichtung nach vorne durch Verbleiben von Fahrzeug F2 auf der Fahrspur S2 (Relativgeschwindigkeit größer Null).

5b schematically shows the 6 essential exit directions, represented by arrows 2.1 . 2.2 . 2.3 . 2.4 . 2.5 and 2.6 in which the vehicle F2 can leave the driver side blind spot area W1 of the vehicle F1. The arrows have the following meaning:

• 2.1 Exit direction obliquely right to the rear by changing the vehicle F2 from lane S2 to lane S1 (relative speed less than zero),
• 2.2 Exit direction to the rear by leaving vehicle F2 on the lane S2 (relative speed less than zero),
• 2.3 Exit direction diagonally left to the rear by changing vehicle F2 from lane S2 to lane S3 (relative speed less than zero),
• 2.4 Exit direction to the left by changing vehicle F2 from lane S2 to lane S3 (relative speed equal to zero),
• 2.5 Exit direction obliquely left to front by changing vehicle F2 from lane S3 to lane S2 (relative speed greater than zero), and
• 2.6 Exit direction forward by leaving vehicle F2 on the lane S2 (relative speed greater than zero).

• 3.1 Eintrittsrichtung schräg links nach vorne durch Wechsel des in Gegenverkehrsrichtung fahrenden Fahrzeugs F2 von Fahrspur S3 nach Fahrspur F2, und
• 3.2 Eintrittsrichtung nach vorne durch Verbleiben des Fahrzeugs F2 auf der Fahrspur S2.

5c schematically shows the 2 essential entry directions, represented by arrows 3.1 , and 3.2 in which the vehicle F2 can enter the driver-side blind spot area W1 of the vehicle F1 as oncoming traffic. The arrows have the following meaning:

• 3.1 Entry direction obliquely left to the front by changing the driving in the opposite direction vehicle F2 of lane S3 to lane F2, and
• 3.2 Entry direction forward by leaving the vehicle F2 on the lane S2.

• 4.1 Austrittsrichtung schräg links nach vorne durch Wechsel des in Gegenverkehrsrichtung fahrenden Fahrzeugs F2 von Fahrspur S2 nach Fahrspur S1,
• 4.2 Austrittsrichtung nach vorne durch Verbleiben des in Gegenverkehrsrichtung fahrenden Fahrzeugs F2 auf Fahrspur S2, und
• 4.3 Austrittsrichtung schräg rechts nach vorne durch Wechsel des in Gegenverkehrsrichtung fahrenden Fahrzeugs F2 von Fahrspur S2 nach Fahrspur S3.

5d shows schematically the 3 essential exit directions, represented by arrows 4.1 . 4.2 and 4.3 in which the vehicle F2 can leave the driver side blind spot area W1 of the vehicle F1. The arrows have the following meaning:

• 4.1 Exit direction obliquely left to the front by changing the vehicle driving in the opposite direction F2 of lane S2 to lane S1,
• 4.2 Exit direction to the front by remaining in the opposite direction driving vehicle F2 on lane S2, and
• 4.3 Exit direction obliquely right to the front by changing the vehicle driving in the opposite direction F2 of lane S2 to lane S3.

The above-mentioned possible entry and exit directions in a blind spot of a vehicle for vehicles in the same direction and for oncoming traffic 1.1 - 1.6 . 2.1 - 2.6 . 3.1 - 3.2 and 4.1 - 4.3 are used to define the columns of a matrix describing classified driver-side tote-angle situations. The rows of the matrix are defined by background objects, for example "no objects";"Movingobjects" subdivided into "overtaking", "equally fast", "falling back" and "oncoming traffic"; and "static objects" such as "pilons", "guide posts", "trees", "traffic jam", "guard rail" and "tunnel wall". For each classified dead-angle situation of the matrix, it is indicated whether or not a warning is issued when the situation occurs.

The 6a - 6c show three examples of a variety of possible classified driving situations with the triggering of a warning signal, which are in parametric form part of the above-mentioned matrix.

6a shows the on the lane S1 moving vehicle F1 with the behind it moving object vehicle F2, in the direction 1.1 Since the driving directions of the vehicles are identical, the relative speed is greater than zero (and is within the predetermined range) and the position of the object is within the warning range, a warning is triggered The object vehicle leaves the blind spot area of the vehicle F1 again in the direction 2.6 ,

6b shows the on-lane S1 moving vehicle F1. On the parallel lane S2 approaches from the rear towards 1.2 the object vehicle F2 and enters the blind spot area W1 of the vehicle F1. Since the directions of travel of the vehicles are identical, the relative speed is greater than zero (and within the predetermined range), and the position of the object is within the warning range, a warning is triggered. The object vehicle leaves the blind spot area of the vehicle F1 again in the direction 2.6 ,

6c shows the on-lane S1 moving vehicle F1. By a change of the object vehicle F2 in the direction 1.3 on track S3 this enters the blind spot area W1 of the vehicle F1. Since the directions of travel of the vehicles are identical, the relative speed is greater than zero (and within the predetermined range) and the object is within the warning range, a warning is triggered. The object vehicle leaves the blind spot area of the vehicle F1 again in the direction 2.6 ,

The 7a - 7c show three examples of a variety of possible classified driving situations without triggering a warning signal.

7a shows the vehicle F1 with blind spot area W1, which moves on the lane S1 in a predetermined direction of travel (ie, in the drawing plane from right to left). On the lane S2, the object vehicle F2 moves in the opposite direction of travel in the direction of travel 3.2 and enters the blind spot area W1 of the vehicle F1. No warning is triggered The object vehicle leaves the blind spot area again in the direction 4.1 , ie under lane change to lane S1. On the lane S3, another vehicle F3 moves in the opposite direction to vehicle F1. For the triggering of a warning, this vehicle is irrelevant because it does not enter the blind spot area W1

7b shows the vehicle F1 with blind spot area W1, which moves on the lane S1 in a predetermined direction of travel (ie, in the drawing plane from right to left). On the lane S2, the object vehicle F2 moves in the opposite direction of travel in the direction of travel 3.2 and enters the blind spot area W1 of the vehicle F1. No warning is triggered. The object vehicle leaves the blind spot area again in the direction 4.2 ie it remains on the track S2. On the lane S3, an additional vehicle F3 moves in the opposite direction to vehicle F1. For the triggering of a warning, this vehicle is irrelevant because it does not enter the blind spot area W1.

7c Finally, the vehicle F1 shows blind spot area W1 moving on the lane S1 in a predetermined direction of travel (ie, in the drawing plane from right to left). On the lane S2 moves in the opposite direction of travel of the object vehicle F2 in the direction 3.2 and enters the blind spot area W1 of the vehicle F1. No warning is triggered The object vehicle leaves the blind spot area again in the direction 4.1 ie it changes to the lane S1. On the lane S3 is a traffic jam with vehicles F3 or are parked vehicles. For triggering a warning, these vehicles F3 are irrelevant because they stand and are therefore treated as background.

LIST OF REFERENCE NUMBERS

F1

vehicle

F2

vehicle

F3

vehicle

FB

roadway

W1

dead angle driver side

W2

dead angle on the passenger side

S1

lane

S2

lane

S3

lane

a

edge length

b

edge length

1.1-1.6

admission directions

2.1-2.6

exit directions

3.1-3.2

admission directions

4.1-4.3

Exit directions relative speed

v _rel

relative speed

v _o

upper limit

v _u

lower limit

Claims (8)

Method for monitoring the blind spot (W1, W2) on the side of a motor vehicle (F1), wherein a warning function gives a warning to the driver when an object (F2) is in a warning area (W1, W2) with the following Steps: a) Determining the relative speed (v _rel ) between object (F2) and motor vehicle (F1), determining the direction of travel of the object (F2) relative to the motor vehicle (F1) and determining the position of the object relative to the motor vehicle (F1) b) issuing a warning to the driver when the direction of travel of the object (F2) corresponds to that of the motor vehicle (F1), the relative speed (v _rel ) between object (F2) and motor vehicle (F1) within a predetermined range defined by a lower range limit (v _u ) and an upper range limit (v _o ), wherein the predetermined range includes the relative speed zero, and the position of the object (F2) is within the warning range (W1, W2), characterized thereby indicates that the range limits (v _u , v _o ) are a function of the intrinsic speed of the motor vehicle (F1). Method according to Claim 1, characterized in that the warning function is independent of the direction of entry of the object (F2) into the blind spot (W1, W2) and the direction of exit of the object (F2) from the blind spot (W1, W2). is. Method according to one of the preceding claims, characterized in that driving situations are classified, each classified Driving situation has the information whether the warning function is activated or not, when an object (F2) enters the warning area (W1, W2), and the method comprises the further steps of: determining the current driving situation of motor vehicle (F1) and object (F2 ), Determining the classified driving situation that corresponds to the current driving situation, activating the warning function according to the determined classified driving situation. A method according to claim 3, characterized in that the classification two further lanes (S2, S3) side of the lane (S1) of the motor vehicle (F1) into account. Method according to one of the preceding claims, characterized in that the evaluation of whether a warning function when entering an object in the warning area (W1, W2) of the motor vehicle (F1) is triggered on both sides of the motor vehicle (F1) is performed. Device configured to carry out the method according to one of the preceding claims, comprising a sensor device for monitoring a warning area (W1, W2), wherein the sensor device defines a sensor area that includes the warning area, and the sensor device the direction of travel of an object (F2) relative to a Motor vehicle (F1), the relative speed (v _rel ) between the object (F2) and the motor vehicle (F1), and the position determines the object (F2) relative to the motor vehicle (F1), a control unit for evaluating the determined data, and a Warning device for outputting a warning signal to the driver of the motor vehicle (F1) as a function of the evaluation of the data. Apparatus according to claim 6, characterized in that the control device comprises a memory for storing classified driving conditions and a comparator for comparing a determined from the data of the sensor device by the control unit current driving condition with the classified driving conditions. Apparatus according to claim 6 or 7, characterized in that the sensor device is arranged in a side mirror, the rear bumper, an exterior mirror or a tail lamp of the motor vehicle.

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